#!/usr/bin/env python
PACKAGE = "tracker"

from dynamic_reconfigure.parameter_generator_catkin import *

gen = ParameterGenerator()

# gen.add("position_p_xy", double_t, 0, "position p parameter for xy axis", 0.5, 0, 5)
# gen.add("position_p_z", double_t, 0, "position p parameter for z axis", 0.6, 0, 5)
# gen.add("position_i_xy", double_t, 0, "position i parameter for xy axis", 0.1, 0, 2)
# gen.add("position_i_z", double_t, 0, "position i parameter for z axis", 0.2, 0, 2)
# gen.add("p_i_acc_error_limit", double_t, 0, "maximum integral error of position",1.0, 0, 10.0)
# gen.add("position_d_xy", double_t, 0, "position d parameter for xy axis", 0.1, 0, 2)
# gen.add("position_d_z", double_t, 0, "position d parameter for z axis", 0.2, 0, 2)

# gen.add("velocity_p_xy", double_t, 0, "velocity p parameter for xy axis", 0.2, 0, 5)
# gen.add("velocity_p_z", double_t, 0, "velocity p parameter for z axis", 0.6, 0, 5)
# gen.add("velocity_i_xy", double_t, 0, "velocity i parameter for xy axis", 0.05, 0, 2)
# gen.add("velocity_i_z", double_t, 0, "velocity i parameter for z axis", 0.1, 0, 2)
# gen.add("v_i_acc_error_limit", double_t, 0, "maximum integral error of velocity", 0.5, 0, 5.0)
# gen.add("velocity_d_xy", double_t, 0, "velocity d parameter for xy axis", 0.1, 0, 2)
# gen.add("velocity_d_z", double_t, 0, "velocity d parameter for z axis", 0.1, 0, 2)

# gen.add("hover_thrust_factor", double_t, 0, "hover thrust factor", 0.058, 0, 0.1)




gen.add("position_p_xy", double_t, 0, "position p parameter for xy axis", 9.0, 0, 20)
gen.add("position_p_z", double_t, 0, "position p parameter for z axis", 4.6, 0, 5)
gen.add("position_i_xy", double_t, 0, "position i parameter for xy axis", 0.12, 0, 2)
gen.add("position_i_z", double_t, 0, "position i parameter for z axis", 0.35, 0, 2)
gen.add("p_i_acc_error_limit", double_t, 0, "maximum integral error of position",1.0, 0, 10.0)
gen.add("position_d_xy", double_t, 0, "position d parameter for xy axis", 0.0, 0, 2)
gen.add("position_d_z", double_t, 0, "position d parameter for z axis", 0.2, 0, 2)

gen.add("velocity_p_xy", double_t, 0, "velocity p parameter for xy axis", 6.0, 0, 20)
gen.add("velocity_p_z", double_t, 0, "velocity p parameter for z axis", 2.45, 0, 5)
gen.add("velocity_i_xy", double_t, 0, "velocity i parameter for xy axis", 0.00, 0, 2)
gen.add("velocity_i_z", double_t, 0, "velocity i parameter for z axis", 0.1, 0, 2)
gen.add("v_i_acc_error_limit", double_t, 0, "maximum integral error of velocity", 0.5, 0, 5.0)
gen.add("velocity_d_xy", double_t, 0, "velocity d parameter for xy axis", 0.0, 0, 2)
gen.add("velocity_d_z", double_t, 0, "velocity d parameter for z axis", 0.1, 0, 2)

gen.add("hover_thrust_factor", double_t, 0, "hover thrust factor", 0.058, 0, 0.1)




# gen.add("position_p_xy", double_t, 0, "position p parameter for xy axis",0.45, 0, 20)
# gen.add("position_p_z", double_t, 0, "position p parameter for z axis", 0.6, 0, 5)
# gen.add("position_i_xy", double_t, 0, "position i parameter for xy axis",0.02, 0, 2)
# gen.add("position_i_z", double_t, 0, "position i parameter for z axis", 0.2, 0, 2)
# gen.add("p_i_acc_error_limit", double_t, 0, "maximum integral error of position",0, 0, 10.0)
# gen.add("position_d_xy", double_t, 0, "position d parameter for xy axis", 0.1, 0, 2)
# gen.add("position_d_z", double_t, 0, "position d parameter for z axis", 0.24, 0, 2)

# gen.add("velocity_p_xy", double_t, 0, "velocity p parameter for xy axis", 0.5, 0, 20)
# gen.add("velocity_p_z", double_t, 0, "velocity p parameter for z axis", 0.8, 0, 5)
# gen.add("velocity_i_xy", double_t, 0, "velocity i parameter for xy axis", 0.05, 0, 2)
# gen.add("velocity_i_z", double_t, 0, "velocity i parameter for z axis",0.1, 0, 2)
# gen.add("v_i_acc_error_limit", double_t, 0, "maximum integral error of velocity", 0, 0, 5.0)
# gen.add("velocity_d_xy", double_t, 0, "velocity d parameter for xy axis", 0.1, 0, 2)
# gen.add("velocity_d_z", double_t, 0, "velocity d parameter for z axis", 0.1 ,0, 2)

# gen.add("hover_thrust_factor", double_t, 0, "hover thrust factor", 0.059, 0, 0.1)









exit(gen.generate(PACKAGE, "pva_tracker", "PVA_Tracker"))
